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Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study

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Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study

Auteurs : Philip J. Swaney ; Hunter B. Gilbert ; Robert J. Webster ; Paul T. Russell ; Kyle D. Weaver

Source :

Journal of Neurological Surgery. Part B, Skull Base [ 2193-6331 ] ; 2014.

RBID : PMC:4813653

Abstract

Objectives The purpose of this study is to experimentally evaluate the use of concentric tube continuum robots in endonasal skull base tumor removal. This new type of surgical robot offers many advantages over existing straight and rigid surgical tools including added dexterity, the ability to scale movements, and the ability to rotate the end effector while leaving the robot fixed in space. In this study, a concentric tube continuum robot was used to remove simulated pituitary tumors from a skull phantom.

Design The robot was teleoperated by experienced skull base surgeons to remove a phantom pituitary tumor within a skull. Percentage resection was measured by weight. Resection duration was timed.

Setting Academic research laboratory.

Main Outcome Measures Percentage removal of tumor material and procedure duration.

Results Average removal percentage of 79.8 ± 5.9% and average time to complete procedure of 12.5 ± 4.1 minutes (n = 20).

Conclusions The robotic system presented here for use in endonasal skull base surgery shows promise in improving the dexterity, tool motion, and end effector capabilities currently available with straight and rigid tools while remaining an effective tool for resecting the tumor.

Url:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4813653

DOI: 10.1055/s-0034-1390401
PubMed: 27054057
PubMed Central: 4813653

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Le document en format XML

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<author><name sortKey="Swaney, Philip J" sort="Swaney, Philip J" uniqKey="Swaney P" first="Philip J." last="Swaney">Philip J. Swaney</name>
<affiliation><nlm:aff id="AF140057-1"><institution>Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
</author>
<author><name sortKey="Gilbert, Hunter B" sort="Gilbert, Hunter B" uniqKey="Gilbert H" first="Hunter B." last="Gilbert">Hunter B. Gilbert</name>
<affiliation><nlm:aff id="AF140057-1"><institution>Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
</author>
<author><name sortKey="Webster, Robert J" sort="Webster, Robert J" uniqKey="Webster R" first="Robert J." last="Webster">Robert J. Webster</name>
<affiliation><nlm:aff id="AF140057-1"><institution>Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
<affiliation><nlm:aff id="AF140057-2"><institution>Department of Otolaryngology, Head and Neck Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
<affiliation><nlm:aff id="AF140057-3"><institution>Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
</author>
<author><name sortKey="Russell, Paul T" sort="Russell, Paul T" uniqKey="Russell P" first="Paul T." last="Russell">Paul T. Russell</name>
<affiliation><nlm:aff id="AF140057-2"><institution>Department of Otolaryngology, Head and Neck Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
<affiliation><nlm:aff id="AF140057-3"><institution>Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
</author>
<author><name sortKey="Weaver, Kyle D" sort="Weaver, Kyle D" uniqKey="Weaver K" first="Kyle D." last="Weaver">Kyle D. Weaver</name>
<affiliation><nlm:aff id="AF140057-2"><institution>Department of Otolaryngology, Head and Neck Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
<affiliation><nlm:aff id="AF140057-3"><institution>Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
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<idno type="pmc">4813653</idno>
<idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4813653</idno>
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<idno type="doi">10.1055/s-0034-1390401</idno>
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<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study</title>
<author><name sortKey="Swaney, Philip J" sort="Swaney, Philip J" uniqKey="Swaney P" first="Philip J." last="Swaney">Philip J. Swaney</name>
<affiliation><nlm:aff id="AF140057-1"><institution>Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
</author>
<author><name sortKey="Gilbert, Hunter B" sort="Gilbert, Hunter B" uniqKey="Gilbert H" first="Hunter B." last="Gilbert">Hunter B. Gilbert</name>
<affiliation><nlm:aff id="AF140057-1"><institution>Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
</author>
<author><name sortKey="Webster, Robert J" sort="Webster, Robert J" uniqKey="Webster R" first="Robert J." last="Webster">Robert J. Webster</name>
<affiliation><nlm:aff id="AF140057-1"><institution>Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
<affiliation><nlm:aff id="AF140057-2"><institution>Department of Otolaryngology, Head and Neck Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
<affiliation><nlm:aff id="AF140057-3"><institution>Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
</author>
<author><name sortKey="Russell, Paul T" sort="Russell, Paul T" uniqKey="Russell P" first="Paul T." last="Russell">Paul T. Russell</name>
<affiliation><nlm:aff id="AF140057-2"><institution>Department of Otolaryngology, Head and Neck Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
<affiliation><nlm:aff id="AF140057-3"><institution>Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
</author>
<author><name sortKey="Weaver, Kyle D" sort="Weaver, Kyle D" uniqKey="Weaver K" first="Kyle D." last="Weaver">Kyle D. Weaver</name>
<affiliation><nlm:aff id="AF140057-2"><institution>Department of Otolaryngology, Head and Neck Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
<affiliation><nlm:aff id="AF140057-3"><institution>Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</nlm:aff>
</affiliation>
</author>
</analytic>
<series><title level="j">Journal of Neurological Surgery. Part B, Skull Base</title>
<idno type="ISSN">2193-6331</idno>
<idno type="eISSN">2193-634X</idno>
<imprint><date when="2014">2014</date>
</imprint>
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<profileDesc><textClass></textClass>
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<front><div type="abstract" xml:lang="en"><p><bold>Objectives</bold>
 The purpose of this study is to experimentally evaluate the use of concentric tube continuum robots in endonasal skull base tumor removal. This new type of surgical robot offers many advantages over existing straight and rigid surgical tools including added dexterity, the ability to scale movements, and the ability to rotate the end effector while leaving the robot fixed in space. In this study, a concentric tube continuum robot was used to remove simulated pituitary tumors from a skull phantom.</p>
<p><bold>Design</bold>
 The robot was teleoperated by experienced skull base surgeons to remove a phantom pituitary tumor within a skull. Percentage resection was measured by weight. Resection duration was timed.</p>
<p><bold>Setting</bold>
 Academic research laboratory.</p>
<p><bold>Main Outcome Measures</bold>
 Percentage removal of tumor material and procedure duration.</p>
<p><bold>Results</bold>
 Average removal percentage of 79.8 ± 5.9% and average time to complete procedure of 12.5 ± 4.1 minutes (<italic>n</italic>
 = 20).</p>
<p><bold>Conclusions</bold>
 The robotic system presented here for use in endonasal skull base surgery shows promise in improving the dexterity, tool motion, and end effector capabilities currently available with straight and rigid tools while remaining an effective tool for resecting the tumor.</p>
</div>
</front>
</TEI>
<pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
  <front><journal-meta><journal-id journal-id-type="nlm-ta">J Neurol Surg B Skull Base</journal-id>
<journal-id journal-id-type="iso-abbrev">J Neurol Surg B Skull Base</journal-id>
<journal-id journal-id-type="doi">10.1055/s-00000181</journal-id>
<journal-title-group><journal-title>Journal of Neurological Surgery. Part B, Skull Base</journal-title>
</journal-title-group>
<issn pub-type="ppub">2193-6331</issn>
<issn pub-type="epub">2193-634X</issn>
<publisher><publisher-name>Georg Thieme Verlag KG</publisher-name>
<publisher-loc>Stuttgart · New York</publisher-loc>
</publisher>
</journal-meta>
<article-meta><article-id pub-id-type="pmid">27054057</article-id>
<article-id pub-id-type="pmc">4813653</article-id>
<article-id pub-id-type="doi">10.1055/s-0034-1390401</article-id>
<article-id pub-id-type="publisher-id">140057</article-id>
<article-categories><subj-group subj-group-type="heading"><subject>Article</subject>
</subj-group>
</article-categories>
<title-group><article-title>Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study</article-title>
</title-group>
<contrib-group><contrib contrib-type="author"><name><surname>Swaney</surname>
<given-names>Philip J.</given-names>
</name>
<xref rid="AF140057-1" ref-type="aff">1</xref>
<xref rid="CO140057-1" ref-type="author-notes"></xref>
</contrib>
<contrib contrib-type="author"><name><surname>Gilbert</surname>
<given-names>Hunter B.</given-names>
</name>
<xref rid="AF140057-1" ref-type="aff">1</xref>
</contrib>
<contrib contrib-type="author"><name><surname>Webster</surname>
<given-names>Robert J.</given-names>
<suffix>III</suffix>
</name>
<xref rid="AF140057-1" ref-type="aff">1</xref>
<xref rid="AF140057-2" ref-type="aff">2</xref>
<xref rid="AF140057-3" ref-type="aff">3</xref>
</contrib>
<contrib contrib-type="author"><name><surname>Russell</surname>
<given-names>Paul T.</given-names>
<suffix>III</suffix>
</name>
<xref rid="AF140057-2" ref-type="aff">2</xref>
<xref rid="AF140057-3" ref-type="aff">3</xref>
</contrib>
<contrib contrib-type="author"><name><surname>Weaver</surname>
<given-names>Kyle D.</given-names>
</name>
<xref rid="AF140057-2" ref-type="aff">2</xref>
<xref rid="AF140057-3" ref-type="aff">3</xref>
</contrib>
</contrib-group>
<aff id="AF140057-1"><label>1</label>
<institution>Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, United States</institution>
</aff>
<aff id="AF140057-2"><label>2</label>
<institution>Department of Otolaryngology, Head and Neck Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</aff>
<aff id="AF140057-3"><label>3</label>
<institution>Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, United States</institution>
</aff>
<author-notes><corresp id="CO140057-1"><bold>Address for correspondence </bold>
Philip J. Swaney <institution>Department of Mechanical Engineering</institution>
<addr-line>Vanderbilt University School of Engineering, Vanderbilt Station B 351592, 2301 Vanderbilt Place, Nashville, TN 37235-1592</addr-line>
<country>United States</country>
<email>philip.j.swaney@vanderbilt.edu</email>
</corresp>
</author-notes>
<pub-date pub-type="epub"><day>07</day>
<month>11</month>
<year>2014</year>
</pub-date>
<pub-date pub-type="ppub"><month>3</month>
<year>2015</year>
</pub-date>
<volume>76</volume>
<issue>2</issue>
<fpage>145</fpage>
<lpage>149</lpage>
<history><date date-type="received"><day>23</day>
<month>5</month>
<year>2014</year>
</date>
<date date-type="accepted"><day>21</day>
<month>7</month>
<year>2014</year>
</date>
</history>
<permissions><copyright-statement>© Thieme Medical Publishers</copyright-statement>
</permissions>
<abstract><p><bold>Objectives</bold>
 The purpose of this study is to experimentally evaluate the use of concentric tube continuum robots in endonasal skull base tumor removal. This new type of surgical robot offers many advantages over existing straight and rigid surgical tools including added dexterity, the ability to scale movements, and the ability to rotate the end effector while leaving the robot fixed in space. In this study, a concentric tube continuum robot was used to remove simulated pituitary tumors from a skull phantom.</p>
<p><bold>Design</bold>
 The robot was teleoperated by experienced skull base surgeons to remove a phantom pituitary tumor within a skull. Percentage resection was measured by weight. Resection duration was timed.</p>
<p><bold>Setting</bold>
 Academic research laboratory.</p>
<p><bold>Main Outcome Measures</bold>
 Percentage removal of tumor material and procedure duration.</p>
<p><bold>Results</bold>
 Average removal percentage of 79.8 ± 5.9% and average time to complete procedure of 12.5 ± 4.1 minutes (<italic>n</italic>
 = 20).</p>
<p><bold>Conclusions</bold>
 The robotic system presented here for use in endonasal skull base surgery shows promise in improving the dexterity, tool motion, and end effector capabilities currently available with straight and rigid tools while remaining an effective tool for resecting the tumor.</p>
</abstract>
<kwd-group xml:lang="en"><title>Keywords</title>
<kwd>skull base</kwd>
<kwd>endoscopic</kwd>
<kwd>transnasal</kwd>
<kwd>pituitary</kwd>
<kwd>Cushing adenoma</kwd>
<kwd>surgical robotics</kwd>
<kwd>robot</kwd>
<kwd>concentric tube continuum robot</kwd>
<kwd>active cannula</kwd>
</kwd-group>
</article-meta>
</front>
</pmc>
</record>

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Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study

Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study

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Abstract

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